305 citations · 2.1k across the 178 of their papers we have counts for
75 papers · 2 filters
Kinematic calibration of orthoglide-type mechanisms
Anatoly Pashkevich, Damien Chablat, Philippe Wenger
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified…
Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators
Mazen Zein, Philippe Wenger, Damien Chablat
This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appe…
Designing a Virtual Manikin Animation Framework Aimed at Virtual Prototyping
Antoine Rennuit, Alain Micaelli, Claude Andriot +4
In the industry, numerous commercial packages provide tools to introduce, and analyse human behaviour in the product's environment (for maintenance, ergonomics...), thanks to Virtu…
A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions
Philippe Wenger, Damien Chablat, Maher Baili
Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with ort…
Working and Assembly Modes of the Agile Eye
Ilian Bonev, Damien Chablat, Philippe Wenger
This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with rev…
Kinematic analysis of the 3-RPR parallel manipulator
Damien Chablat, Philippe Wenger, Ilian Bonev
The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as…
The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators
Damien Chablat, Philippe Wenger, Stéphane Caro +1
The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotr…
An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications
Mazen Zein, Philippe Wenger, Damien Chablat
This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topo…
Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms
Anatoly Pashkevich, Philippe Wenger, Damien Chablat
The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both…
Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide
Anatoly Pashkevich, Damien Chablat, Philippe Wenger
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted ortho…
Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide
Damien Chablat, Philippe Wenger
This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basi…
An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines
Damien Chablat, Philippe Wenger, Félix Majou +1
This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a reg…
Virtual Manufacturing : Tools for improving Design and Production
Philippe Dépincé, Damien Chablat, Peer-Oliver Woelk
The research area "Virtual Manufacturing" can be defined as an integrated manufacturing environment which can enhance one or several levels of decision and control in manufacturing…
Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine
Stéphane Caro, Philippe Wenger, Fouad Bennis +1
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity t…
The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture
Damien Chablat, Jorge Angeles
A spherical wrist of the serial type is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all identical and nonzero. What isotr…
Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide
Philippe Wenger, Damien Chablat
This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted or…
A Comparative Study of Parallel Kinematic Architectures for Machining Applications
Philippe Wenger, Clément Gosselin, Damien Chablat
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are s…
A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye
Damien Chablat, Philippe Wenger
The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motion…
Virtual reality: A human centered tool for improving Manufacturing
Fouad Bennis, Damien Chablat, Philippe Dépincé
Manufacturing is using Virtual Reality tools to enhance the product life cycle. Their definitions are still in flux and it is necessary to define their connections. Thus, firstly,…
Balanced Virtual Humans Interacting with their Environment
Antoine Rennuit, Alain Micaelli, Xavier Merlhiot +5
The animation of human avatars seems very successful; the computer graphics industry shows outstanding results in films everyday, the game industry achieves exploits... Nevertheles…
Integration of a Balanced Virtual Manikin in a Virtual Reality Platform aimed at Virtual Prototyping
Antoine Rennuit, Alain Micaelli, Xavier Merlhiot +5
The work presented here is aimed at introducing a virtual human controller in a virtual prototyping framework. After a brief introduction describing the problem solved in the paper…
An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications
Mazen Zein, Philippe Wenger, Damien Chablat
This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into…
Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux
Maher Baili, Damien Chablat, Philippe Wenger
A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross sectio…
A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye
Damien Chablat, Philippe Wenger
This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation…